JP5300545B2 - Automated guided vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an unmanned carrier which suppresses the damage of guide tapes, reduces the number of guide sensors, achieves the simplification of a device configuration and the easiness of assembly, and improves safety in traveling. <P>SOLUTION: The unmanned carrier includes: a traveling truck for mounting a cylindrical workpiece; four caster wheels for supporting the traveling truck on a traveling road surface so as to freely travel back and forth and right and left; two driving wheels for applying driving force to the traveling truck; and a plurality of guide sensors for detecting guide tapes for forward and backward traveling, a guide tape for horizontal traveling and a stop marker on the traveling road surface. In the unmanned carrier, the guide sensors include forward/backward traveling guide sensors each of which is arranged on each of the front side and the rear side on a center line of a longitudinal direction and one or two horizontal traveling guide sensors arranged in the center line of a minor-side direction, and each of the guide sensors includes a guide sensing function for detecting a traveling direction and a stop sensing function for detecting a stop position. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to an automated guided vehicle (so-called AGV) guided by a guide tape laid on a traveling road surface and traveling in a factory or a warehouse along a desired transportation route.

2. Description of the Related Art Conventionally, in a newspaper printing factory or the like, an automatic guided vehicle abbreviated as AGV is often used as a means for conveying a web from a paper storage to a rotary press and collecting the remaining core from the rotary press.
As a driving control method for automated guided vehicles,
(1) Electromagnetic induction method (guide wire embedment method) that detects a travel route by burying an electromagnetic induction wire on the road surface and detecting a magnetic field generated by flowing an alternating current there by a magnetic sensor on the vehicle body side,
(2) A magnetic induction method for detecting a traveling route by sticking a magnetic tape as a guide line on a traveling road surface and detecting a magnetic flux generated by the magnetic tape by a magnetic sensor on the vehicle body side;
(3) A light guiding method is mainly used in which a light reflecting tape is attached as a guide line on a traveling road surface, the light reflecting tape is detected by a light sensor on the vehicle body side, and a traveling route is detected.
Such automatic guided vehicles have greatly contributed to automation, labor saving, and improvement of the working environment at the site where the web is conveyed.

In particular, in recent years, there has been an increasing demand for rationalization of the paper feeding operation of the rotary press, and for this reason, introduction of a higher-performance automatic guided vehicle has been actively promoted.
As a control method for such an automatic guided vehicle, the magnetic induction method and the light induction method described in the above (2) and (3) are used from the viewpoint of maintenance management, adaptability to the installation site, economy, and the like. Many tend to be adopted.

  Usually, a magnetic induction type or a light induction type automatic guided vehicle has a plurality of magnetic sensors or optical devices installed in a line in a direction perpendicular to the guide tape at the position of a guide tape made of a magnetic tape or a light reflecting tape. Automatic steering / running control is performed by recognizing with a sensor (see, for example, Patent Document 1).

Further, in recent years, in a relatively small newspaper printing factory or the like, the automatic guided vehicle can be moved not only in the front-rear direction but also in the lateral direction so that the automatic guided vehicle can be moved efficiently. It is considered.
In this case, the automatic guided vehicle moves in the front-rear direction while detecting the forward-reverse guide tape laid along the main traveling path by the forward-backward guide sensor, and is laid apart from the forward-backward guide tape. A traversing guide tape extending in a direction orthogonal to the main travel path is moved in the traversing direction while being detected by the traversing guide sensor.
Then, the automatic guided vehicle moves to a stop position such as a rotary press along the traversing guide tape, and stops based on detection of a stop marker installed on the floor surface of the stop position by a marker sensor ( For example, Patent Document 2).

JP 2004-86453 A JP 2000-330635 A

  In the conventional magnetic induction type or light induction type automatic guided vehicle as described above, the driving wheel often has a guide tape because it is self-propelled on a traveling surface on which a longitudinal guide tape and a transverse guide tape are laid. There was a problem that the guide tape was damaged because it stepped on.

  Further, when the automatic guided vehicle is traversed, the driving wheel is fixed on the guide tape, that is, the direction is changed while the driving wheel is stopped, so that the guide tape is damaged.

  Furthermore, in order to enable the automatic guided vehicle to move not only in the front-rear direction but also in the left-right traverse direction and stop at a predetermined position, a number of sensors such as a forward / reverse guide sensor, a traverse guide sensor, and a marker sensor are used. There is a problem that the apparatus configuration becomes complicated.

  Furthermore, when the automated guided vehicle conveys a cylindrical workpiece, the center of gravity of the cylindrical workpiece is not on the center line of the wheel that supports the load of the automated guided vehicle, so the direction of bending when the automated guided vehicle bends. There is a problem that the control characteristics change depending on the type.

  Therefore, the technical problem to be solved by the present invention, that is, the object of the present invention is to suppress damage to the forward / backward guide tape and the traverse guide tape on the traveling road surface. Four caster wheels that support a traveling cart that can reduce the number, simplify the device configuration and improve assembly, and improve traveling control characteristics. It is to provide an automatic guided vehicle having a wheel.

  As a result of intensive research to solve the above problems, the present inventors have the forward and backward guide sensor and the traverse guide sensor have both an inductive sensing function for detecting the traveling direction and a stop sensing function for detecting the stop position. Has been found to be extremely effective in solving the above problems, and the present invention has been completed based on this finding.

  That is, the invention according to claim 1 includes a traveling carriage on which a cylindrical workpiece is mounted, four caster wheels that support the traveling carriage on a traveling road surface so that the traveling carriage can be moved forward, backward, left, and right, and two that give propulsion to the traveling carriage. In an automatic guided vehicle having a drive wheel, a forward / backward guide tape for detecting a forward / backward guide tape and a stop marker on the travel road surface, and a traverse guide sensor for detecting a traverse guide tape and a stop marker on the travel road surface, Two caster wheels that are provided at the front side and two at the rear side of the traveling carriage and are located at the apexes of the rectangle are parallel to each other so that the longitudinal center line of the traveling carriage and the longitudinal center line of the rectangle are separated from each other. The driving wheels are arranged one by one on the front side and the rear side on the longitudinal center line of the rectangle, and the forward / backward guide sensor is arranged in the longitudinal direction of the rectangle. One on the front side and one on the rear side of the sensor center line that is spaced apart from the core and parallel to each other, provided separately from the drive wheel on the traveling carriage, and the traverse guide sensor is located in the rectangular lateral center. One or two on the line and provided on the traveling carriage, the forward / backward guide sensor and the traverse guide sensor detect a traveling direction of the traveling carriage and a stop sensing function that detects a stop position And the above-mentioned problems are solved.

  The invention according to claim 2 is the automatic guided vehicle according to claim 1, wherein each of the guide sensors is arranged outside the rectangle at a predetermined distance from the rectangle. Is a further solution.

  The invention according to claim 3 further solves the above-mentioned problem in the automatic guided vehicle according to claim 1 or 2, wherein the center axis of the cylindrical workpiece is on the longitudinal center line of the rectangle. It is a thing.

  According to a fourth aspect of the present invention, in the automatic guided vehicle according to any one of the first to third aspects, the drive wheel is pivotally supported on a rotation shaft of a drive motor capable of rotating forward and reverse. The problem is further solved by being supported so as to be able to turn about a turning vertical axis passing through the center of the drive wheel.

  According to the first aspect of the present invention, the traveling carriage on which the cylindrical workpiece is mounted, the four caster wheels that support the traveling carriage on the traveling road surface so that the traveling carriage can run freely in the front-rear and left-right directions, and the driving carriage 2 is provided with a propulsive force. In an automatic guided vehicle having two drive wheels, a forward / backward guide sensor for detecting a forward / backward guide tape and a stop marker on the traveling road surface, and a transverse guide sensor for detecting a traverse guide tape and a stop marker on the traveling road surface Two caster wheels are provided on the front side of the traveling carriage and two on the rear side so that the caster wheel located at each vertex of the rectangle is parallel to the longitudinal centerline of the traveling carriage and the rectangular longitudinal centerline. The drive wheels are arranged one by one on the front side and the rear side on the rectangular longitudinal center line, and the forward / backward guide sensor is spaced apart from the rectangular longitudinal center line and is parallel to the sensor center line One on the front side and one on the rear side of the vehicle and provided on the traveling carriage separately from the drive wheels, and one or two transverse guide sensors are disposed on the rectangular lateral center line and the traveling carriage. The forward / backward guide sensor and the traverse guide sensor have both an inductive sensing function for detecting the traveling direction of the traveling carriage and a stop sensing function for detecting the stop position. The special effect corresponding to the structure peculiar to the invention which concerns on can be show | played.

  First, the forward / backward guide sensors are arranged one by one on the front side and the rear side on the sensor center line that is separated from and parallel to the rectangular longitudinal center line, and are provided on the traveling carriage separately from the drive wheels. In other words, the forward / reverse guide sensor and the drive wheels are arranged on parallel lines separated from each other, so that the four caster wheels that support the traveling carriage in a front / rear / left / right direction and two propulsion forces to the traveling carriage are provided. Since the drive wheel does not step on the forward / reverse guide tape when the automatic guided vehicle having the drive wheel is traveling in the front / rear direction, damage to the forward / backward guide tape can be suppressed.

  A forward / backward guide sensor and a traverse guide sensor disposed on an automatic guided vehicle having four caster wheels that support the traveling carriage so as to be able to run forward and backward, left and right, and two drive wheels that impart driving force to the traveling carriage, Since it has both an inductive sensing function that detects the travel direction of the vehicle and a stop sensing function that detects the stop position, it reduces the number of forward and backward guide sensors and traverse guide sensors, and simplifies the device configuration and facilitates assembly. be able to.

  Further, according to the invention according to claim 2, in the automatic guided vehicle according to claim 1, each of the guide sensors is disposed outside the rectangle at a predetermined distance from the rectangle. Guide tape can be installed without crossing the trajectory of the caster wheel when the automated guided vehicle is traveling in the front-rear direction, so that the caster wheel is used for traversal when the automated guided vehicle is traveling in the front-rear direction. Stepping on the guide tape can be avoided, and damage to the traversing guide tape can be suppressed.

  Further, according to the invention according to claim 3, in the automatic guided vehicle according to claim 1 or 2, the center of gravity of the cylindrical workpiece is obtained by the center axis of the cylindrical workpiece being on the rectangular longitudinal center line. Since it is placed on the center line of the wheel that supports the load of the automatic guided vehicle, even when the automatic guided vehicle is bent, stability can be improved without changing the characteristics depending on the direction of bending.

  According to the invention of claim 4, in the automatic guided vehicle according to any of claims 1 to 3, the drive wheel is pivotally supported on the rotation shaft of a drive motor capable of rotating forward and reverse. By being supported so as to be able to turn around a turning vertical axis passing through the center of the drive wheel, the rotation direction of the drive wheel can be freely changed between the front-rear direction and the lateral direction of the automatic guided vehicle. The automatic guided vehicle can be traversed at right angles to the main transport path, and the mobility of the automatic guided vehicle is improved.

The perspective view which shows the state which the automatic guided vehicle of a present Example is conveying the cylindrical workpiece. The bottom view when the automatic guided vehicle of a present Example is seen from the bottom. The side view when seeing the automatic guided vehicle shown in FIG. 2 from arrow III direction. The conceptual diagram explaining the forward / reverse drive mode of the automatic guided vehicle of a present Example. The conceptual diagram explaining the stop mode of the automatic guided vehicle of a present Example. The conceptual diagram explaining the transverse mode of the automatic guided vehicle of a present Example. The conceptual diagram explaining the positioning mode of the automatic guided vehicle of a present Example.

  The present invention includes a traveling carriage on which a cylindrical workpiece is mounted, four caster wheels that support the traveling carriage on a traveling road surface so that the traveling carriage can freely run back and forth, left and right, two drive wheels that provide driving force to the traveling carriage, The front and rear guide tapes, the traverse guide tape, and a plurality of guide sensors for detecting stop markers, two caster wheels are located on the front side of the traveling carriage, two on the rear side, and at each vertex of the rectangle The caster wheels are arranged so that the longitudinal center line of the traveling carriage and the rectangular longitudinal center line are spaced apart and parallel to each other, and the drive wheels are placed forward on the rectangular longitudinal center line. A forward / backward guide sensor, which is arranged one by one on the side and the rear side, and one guide sensor is arranged on each of the front side and the rear side on the sensor center line parallel to the rectangular longitudinal center line. Rectangular short In other words, each guide sensor has both a guidance sensing function for detecting the traveling direction and a stop sensing function for detecting the stop position. Then, a traveling carriage on which the cylindrical workpiece is mounted, four caster wheels that support the traveling carriage on the traveling road surface so as to be able to run forward, backward, left, and right, two drive wheels that give propulsive force to the traveling carriage, and on the traveling road surface In an automatic guided vehicle having a forward / backward guide sensor for detecting a forward / backward guide tape and a stop marker, and a transverse guide sensor for detecting a traverse guide tape and a stop marker on the traveling road surface, two are provided on the front side of the traveling carriage. The two caster wheels provided at the rear of the rectangle are located at the apexes of the rectangle so that the longitudinal center line of the traveling carriage is separated from the longitudinal center line of the rectangle. Sensors arranged parallel to each other, one drive wheel is arranged on each of the front and rear sides on the longitudinal center line of the rectangle, and the forward and backward guide sensors are separated from the longitudinal center line of the rectangle and are parallel to each other One is disposed on each of the front side and the rear side on the center line, and is provided on the traveling carriage separately from the drive wheels, and one or two transverse guide sensors are disposed on the rectangular short direction center line and It is provided on the traveling cart, and the forward / backward guide sensor and the traverse guide sensor have both an inductive sensing function for detecting the traveling direction of the traveling cart and a stop sensing function for detecting the stop position, so Damage to the guide tape and traverse guide tape, reduce the number of forward and backward guide sensors and traverse guide sensors, simplify the equipment configuration and facilitate assembly, If it is intended to provide an automatic guided vehicle having four caster wheels that support the traveling cart with improved safety in a front-rear and left-right direction and two drive wheels that provide propulsive force to the traveling cart, Any embodiment may be used.

  For example, the travel control system used in the automatic guided vehicle of the present invention may be any of a magnetic induction system and a light induction system, but is not easily affected by dirt on the guard tape and has a surrounding brightness. The magnetic induction method is particularly preferable from the viewpoint of being hardly affected by changes.

An embodiment of the present invention will be described with reference to FIGS.
Here, FIG. 1 is a perspective view showing a state in which the automatic guided vehicle of the present embodiment is transporting a cylindrical workpiece such as a newspaper web, and FIG. 2 is an automatic guided vehicle of the present embodiment. 3 is a bottom view when viewed from below, FIG. 3 is a side view when the automatic guided vehicle shown in FIG. 2 is viewed from the direction of arrow III, and FIG. 4 is an automatic guided vehicle according to the present embodiment. FIG. 5 is a conceptual diagram illustrating the stop mode of the automatic guided vehicle according to the present embodiment. FIG. 6 illustrates the transverse mode of the automatic guided vehicle according to the present embodiment. FIG. 7 is a conceptual diagram illustrating the positioning mode of the automatic guided vehicle according to the present embodiment.

  As shown in FIG. 1, the automatic guided vehicle 100 according to the present embodiment is guided by a forward / backward guide tape L1 laid along a desired main conveyance path on a traveling road surface in a newspaper printing factory or the like. For example, the guide tape L2 is moved in the direction perpendicular to the main conveyance path, and is guided in the transverse guide tape L2 laid along the pull-in path to the rotary press to move in the horizontal direction.

First, the configuration of the automatic guided vehicle 100 of this embodiment will be described.
As shown in FIGS. 1 to 3, the automatic guided vehicle 100 according to the present embodiment has a winding core C left after exhausting the cylindrical workpiece W along one side of the traveling carriage 110, that is, a residual core. A remaining core recovery mechanism 160 for recovering from the turning machine is provided.
The remaining core collecting mechanism 160 includes a mechanism that protrudes in the lateral direction when it rises. After the remaining core is received from the rotary press at the raised position, the remaining core is pulled in the lateral direction and moved to the lowered position to move the traveling carriage 110. In the perspective view of FIG. 1, the remaining core collecting mechanism 160 is stored in the traveling carriage 110.
As shown in FIG. 2, the caster wheels 122 are located at the four corners of the remaining portion where the remaining core collecting mechanism 160 is installed, two on the front side, two on the rear side, and each vertex of the rectangle R, 124, 126, and 128 are arranged.
Here, the rectangle R means a rectangle connecting the turning centers of the four caster wheels 122, 124, 126, and 128.
At this time, the longitudinal center line CV of the traveling carriage 110 and the longitudinal center line CL of the rectangle R are arranged so as to be parallel to each other with a predetermined distance determined by the width of the remaining core collecting mechanism 160.

Further, one driving wheel 130 is disposed on each of the front side and the rear side on the longitudinal center line CL of the rectangle R.
Further, it is separated from the longitudinal center line CL of the rectangle R by a predetermined distance, that is, {sensor width / 2 + magnetic tape width + driving wheel width / 2} or more on the front side and rear side on the parallel sensor center line CC. The forward / backward guide sensors 142 and 144 are arranged one by one.
By determining the positions of the drive wheels 130 and the forward / backward guide sensors 142 and 144 in this way, when the automatic guided vehicle 100 moves forward and backward, the drive wheels 130 move while stepping on the forward / backward guide tape L1. Therefore, damage to the forward / backward guide tape L1 can be suppressed.
In addition, since the four caster wheels 122, 124, 126, and 128 are arranged at positions symmetrical with respect to the line connecting the front and rear drive wheels 130, the weight balance of the automatic guided vehicle 100 is good, and the unmanned The running stability of the transport vehicle 100 is improved.

On the other hand, traverse guide sensors 146 and 148 are arranged in the vicinity of the side of the traveling carriage 110 and the vicinity of the remaining core collecting mechanism 160 on the rectangular center direction CS of the rectangle R, respectively.
The traverse guide sensors 146 and 148 may be one of the traverse guide sensors 148 installed in the vicinity of the remaining core collecting mechanism 160 if the transverse direction of the automatic guided vehicle 100 is always fixed to the side where the remaining core collecting mechanism 160 is installed. There is no problem with just one.
However, when the traversing distance is long, the traversing while detecting the traversing guide tape L2 by both of the two traversing guide sensors 146 and 148 can perform traversing with less error, and thus the two traversing guide sensors 146. 148 is preferably installed.
The guide sensors used for the forward / backward guide sensors 142 and 144 and the traverse guide sensors 146 and 148 are composed of a plurality of elements that detect the strength of the magnetic field, and output the position of the magnetic tape in the guide sensor. .

Further, each of the forward / backward guide sensors 142 and 144 and the traverse guide sensors 146 and 148 is disposed outside the rectangle R at a predetermined distance from the rectangle R, preferably at a distance equal to or greater than the turning radius of the caster wheel.
Furthermore, it is more preferable that the guide tape is not stepped on even when the direction is changed by disposing the caster wheel at the turning radius or more outside the rectangle R.
Thus, by arranging the guide sensor, the starting point of the traversing guide tape L2 can be set outside the track of the caster wheel when the automatic guided vehicle 100 is moving forward and backward. The traversing guide tape L2 can be laid so that the caster wheel does not step on the traversing guide tape L2 during forward and backward travel of 100, and damage to the traversing guide tape L2 can be suppressed.

In addition, the traveling carriage 110 of the automatic guided vehicle 100 is equipped with an elevating mechanism 180 that supports the columnar workpiece W so as to be movable up and down.
And the position of the raising / lowering mechanism 180 is set so that the center axis | shaft of the cylindrical workpiece | work W may come on the longitudinal direction centerline CL of the rectangle R. FIG.
Therefore, since the center of gravity of the cylindrical workpiece W is placed on the center line of the drive wheel 130 that supports the load of the automatic guided vehicle 100, the characteristics change depending on the direction of bending even when the automatic guided vehicle 100 is bent. It is easy to control and stability is improved.

Further, as shown in FIGS. 2 and 3, the drive wheel 130 of the automatic guided vehicle 100 is pivotally supported by a rotation shaft of a drive motor 132 that can rotate forward and backward, and passes through the center of the drive wheel 130. It is supported so that it can turn around CR.
The mechanism that supports the drive shaft 130 so as to be capable of turning about the turning vertical axis CR is not particularly limited. For example, a fixed portion that includes a fixed base attached to the traveling carriage 110 and a steering internal gear. A turning part having a turning side base, a drive motor 182, a drive wheel 130, a steering motor, a steering speed reducer, and a steering pinion, and a crossed roller bearing that supports the turning part in a turnable manner with respect to the fixed part The steering mechanism comprised from can be used.

Next, a travel control method of the automatic guided vehicle 100 of the present embodiment will be described.
The traveling control of the automatic guided vehicle of this embodiment is basically performed in four modes: (1) forward / reverse mode, (2) stop mode, (3) traverse mode, and (4) positioning mode.
Below, the control content of each mode is demonstrated.

(1) In the forward / reverse mode, as shown in FIG. 4, the automatic guided vehicle 100 rotates the drive wheel 130 while detecting the forward / backward guide tape L1 on the traveling road surface by the forward / backward guide sensors 142, 144. It moves forward and backward along the guide tape L1 for forward and backward movement.
In this case, even when the forward / backward guide tape L1 draws an arc, the forward / backward guide sensors 142 and 144 recognize the trajectory of the forward / backward guide tape L1, and the direction of the drive wheels 130 is required accordingly. The automatic guided vehicle 100 is turned by an amount and travels along the forward / reverse guide tape L1.
In the forward / reverse mode, the forward / backward guide sensors 142 and 144 have a guidance sensing function for detecting a travel path along the forward / backward guide tape L1.

(2) In the stop mode, as shown in FIG. 5, the automatic guided vehicle 100 stops the rotation of the drive wheels 130 when the transverse guide sensor 148 detects the transverse guide tape L2 on the traveling road surface while moving forward and backward. And the direction of the drive wheel 130 is turned 90 °.
The transverse guide tape L2 is laid so as to guide the automatic guided vehicle 100 to the rotary press, for example.
In the stop mode, the traverse guide sensor 148 detects the position of the traverse guide tape L2, recognizes that this is a turning point that changes from forward and backward travel, and stops the rotation of the drive wheel 130. It has a function.

(3) In the traversing mode, as shown in FIG. 6, while the traversing guide sensor 148 detects the traversing guide tape L2, the drive wheel 130 is rotated to traverse along the traversing guide tape L2.
In the traversing mode, the traversing guide sensors 146 and 148 have an induction sensing function for detecting a traveling trajectory along the traversing guide tape L2.

(4) In the positioning mode, as shown in FIG. 7, when the automated guided vehicle 100 detects the stop marker L3 on the traveling road surface with the forward / reverse guide sensors 142 and 144 during traversal, the rotation of the drive wheels 130 is performed. Stop.
The stop marker L3 is laid, for example, so as to stop the automatic guided vehicle 100 at the paper feeding device position of the rotary press.
In the positioning mode, the forward / backward guide sensors 142 and 144 detect the position of the stop marker L3, recognize that it is a place where the automatic guided vehicle 100 is stopped, and stop the rotation of the drive wheels 130. It has a sensing function.

  As described above, unmanned conveyance having the four caster wheels 122, 124, 126, and 128 that support the traveling carriage 110 of this embodiment so as to be able to run forward, backward, left, and right, and the two drive wheels 130 that provide propulsive force to the traveling carriage 110. According to the vehicle 100, each of the forward / reverse guide sensors 142 and 144 and the traverse guide sensors 146 and 148 has both a guidance sensing function for detecting the traveling direction and a stop sensing function for detecting the stop position. Since one guide sensor controls running and stopping in the longitudinal direction and running and stopping in the lateral direction, it is possible to reduce the number of forward and backward guide sensors and traverse guide sensors, and to simplify the device configuration and facilitate assembly. Yes, the effect is enormous.

DESCRIPTION OF SYMBOLS 100 ... Automated guided vehicle 110 ... Traveling carts 122, 124, 126, 128 ... Caster wheels 130 ... Drive wheels 132 ... Drive motors 142, 144 ... Forward / reverse guide sensors 146, 148・ ・ ・ Traversing guide sensor 160 ・ ・ ・ Remaining core collecting device 180 ・ ・ ・ Elevating mechanism CC ・ ・ ・ Sensor center line CL ・ ・ ・ Longitudinal center line (of rectangle R) CS ・ ・ ・ Short (of rectangle R) Center line in the hand direction CV ... Longitudinal center line (of the traveling carriage) L1 ... Guide tape for forward and backward advancement L2 ...

Claims (4)

A traveling carriage on which a cylindrical workpiece is mounted, four caster wheels that support the traveling carriage on the traveling road surface so as to be able to run forward, backward, left, and right, two drive wheels that provide propulsive force to the traveling carriage, In an automatic guided vehicle having a forward / backward guide sensor for detecting a forward / backward guide tape and a stop marker, and a transverse guide sensor for detecting a transverse guide tape and a stop marker on the traveling road surface,
Two caster wheels are provided on the front side of the traveling carriage and two on the rear side, and are located at the apexes of the rectangle. The longitudinal center line of the traveling carriage and the longitudinal center line of the rectangle are separated from each other in parallel. Arranged so that
The driving wheels are arranged one by one on the front side and the rear side on the longitudinal center line of the rectangle,
The forward / backward guide sensors are arranged one by one on the front side and the rear side on the sensor center line that is spaced apart and parallel to the rectangular longitudinal center line, and are provided on the traveling carriage separately from the drive wheels,
The traverse guide sensor is provided on the traveling carriage while one or two are disposed on the rectangular lateral center line,
The automatic guided vehicle, wherein the forward / backward guide sensor and the traverse guide sensor have both an inductive sensing function for detecting a traveling direction of the traveling carriage and a stop sensing function for detecting a stop position.   2. The automatic guided vehicle according to claim 1, wherein the forward / backward guide sensor and the traverse guide sensor are arranged outside the rectangle at a predetermined distance from the rectangle.   The automatic guided vehicle according to claim 1 or 2, wherein a center axis of the cylindrical workpiece is on a longitudinal center line of the rectangle. 2. The drive wheel is supported by a rotary shaft of a drive motor capable of rotating in the forward and reverse directions and supported so as to be turnable around a turning vertical axis passing through the center of the drive wheel. The automatic guided vehicle according to any one of claims 3 to 4.

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